Building Self-Driving Cars in Gazebo
![](/project/gazebo/featured_huc4b5a90f2ee90583692f5c1c8547aa27_116034_720x0_resize_lanczos_2.png)
Introduction
![](./figs/intro.png)
Implementation
Building Vehicles and Driving Sceneries
Vehicle Model
![](./figs/model_tf.png)
![](./figs/joystick_demo.png)
Driving Sceneries
![](./figs/road_segment.png)
More complicated urban environments are created based on CitySim
Experiments
Line Keeping Demo
![](./figs/lane_keep_demo.gif)
Multiple Cars Simulation
![](./figs/multi_car_sim.png)
![](./figs/multi_car.gif)